version: 66.06
glider: 148
mission: 9
dive: 528
start: 1 15 111 21 54 22
data:
$ID,148
$MISSION,9
$DIVE,528
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-869681.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,214316,2249.430,-15759.789,12,1.9,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.8
$GPS2,215328,2249.448,-15759.776,10,99.0,29,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.228,0.077
$KALMAN_X,-111663.8,90.8,-175.9,129102.3,-597.6
$KALMAN_Y,-148413.7,58.1,-466.5,277647.2,-480.3
$MHEAD_RNG_PITCHd_Wd,61.3,4849,-14.1,-8.013
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.06,-146.0,0.0,0.0,0,95,0.00,0.00,-74.93,0.000,2,0.000,0.000,409,1887,3477,0,0,0,0,0,0
$GC,98,-1.06,-146.0,4.3,-4.9,10,123,11.77,2.42,-4.18,0.000,4,0.156,0.041,2618,3367,3717,0,0,0,0,0,0
$GC,135,0.74,-146.0,17.9,-31.3,14,144,1.75,2.55,0.00,0.000,6,0.073,0.021,3013,1785,3719,0,0,0,0,0,0
$GC,433,-0.02,-146.0,37.3,-5.8,53,445,0.62,2.55,0.00,0.000,4,0.018,0.027,2834,3370,3720,0,0,0,0,0,0
$GC,551,-0.55,-146.0,46.4,-8.9,63,564,0.40,2.58,0.00,0.000,6,0.054,0.021,2738,1747,3720,0,0,0,0,0,0
$GC,823,-1.24,-146.0,68.0,-7.8,88,836,0.60,2.50,0.00,0.000,4,0.061,0.041,2586,212,3720,0,0,0,0,0,0
$GC,906,-1.24,-146.0,77.2,-10.8,95,915,0.00,2.45,0.00,0.000,6,0.000,0.025,2586,1776,3720,0,0,0,0,0,0
$GC,1169,-1.06,-146.0,109.8,-12.5,120,1174,0.20,2.53,0.00,0.000,4,0.096,0.028,2629,3360,3720,0,0,0,0,0,0
$GC,1272,-1.06,-146.0,118.7,-7.4,129,1276,0.00,2.47,0.00,0.000,6,0.000,0.022,2629,1798,3721,0,0,0,0,0,0
$GC,1541,-1.06,-146.0,139.4,-7.8,153,1546,0.00,2.50,0.00,0.000,4,0.000,0.028,2629,3362,3721,0,0,0,0,0,0
$GC,1577,-1.06,-146.0,142.8,-7.7,156,1581,0.00,2.47,0.00,0.000,6,0.000,0.022,2629,1798,3721,0,0,0,0,0,0
$GC,1839,-1.06,-146.0,162.9,-7.2,180,1844,0.00,2.47,0.00,0.000,4,0.000,0.028,2629,3360,3722,0,0,0,0,0,0
$GC,1863,-1.06,-146.0,164.6,-7.5,181,1868,0.00,2.45,0.00,0.000,6,0.000,0.022,2629,1802,3722,0,0,0,0,0,0
$GC,2125,-1.06,-146.0,185.1,-7.8,206,2130,0.00,2.58,0.00,0.000,4,0.000,0.041,2629,208,3722,0,0,0,0,0,0
$GC,2156,-1.06,-146.0,187.1,-8.1,208,2161,0.00,2.47,0.00,0.000,6,0.000,0.019,2629,1823,3722,0,0,0,0,0,0
$GC,2413,-1.06,-146.0,205.5,-6.8,226,2418,0.00,2.42,0.00,0.000,4,0.000,0.029,2629,3364,3723,0,0,0,0,0,0
$GC,2465,-1.17,-146.0,209.3,-7.0,227,2470,0.10,2.42,0.00,0.000,6,0.074,0.022,2572,1824,3722,0,0,0,0,0,0
$GC,2745,-1.05,-146.0,238.3,-11.1,234,2750,0.25,2.60,0.00,0.000,4,0.084,0.039,2632,214,3722,0,0,0,0,0,0
$GC,2769,-1.11,-146.0,241.0,-9.4,234,2774,0.00,2.50,0.00,0.000,6,0.000,0.020,2632,1829,3722,0,0,0,0,0,0
$GC,3031,-1.19,-146.0,261.0,-7.9,241,3036,0.12,2.45,0.00,0.000,4,0.062,0.031,2558,3367,3723,0,0,0,0,0,0
$GC,3078,-1.12,-146.0,266.2,-10.4,242,3083,0.25,2.42,0.00,0.000,6,0.077,0.024,2616,1831,3722,0,0,0,0,0,0
$GC,3361,-1.12,-146.0,289.6,-8.2,249,3365,0.00,2.45,0.00,0.000,4,0.000,0.032,2616,3360,3722,0,0,0,0,0,0
$GC,3406,-1.20,-146.0,293.1,-7.4,250,3410,0.00,2.40,0.00,0.000,6,0.000,0.025,2616,1845,3722,0,0,0,0,0,0
$GC,3693,-1.20,-146.0,312.7,-6.4,257,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1846,3721,0,0,0,0,0,0
$GC,3938,-1.20,-146.0,327.5,-6.1,263,3942,0.00,2.47,0.00,0.000,4,0.000,0.035,2616,3364,3720,0,0,0,0,0,0
$GC,3976,-1.29,-146.0,330.0,-5.6,263,3982,0.15,2.42,0.00,0.000,6,0.052,0.026,2540,1855,3719,0,0,0,0,0,0
$GC,4226,-1.11,-146.0,355.1,-10.4,270,4233,0.30,2.70,0.00,0.000,4,0.081,0.048,2612,220,3718,0,0,0,0,0,0
$GC,4253,-1.11,-146.0,357.5,-8.2,270,4258,0.00,2.55,0.00,0.000,6,0.000,0.023,2612,1841,3718,0,0,0,0,0,0
$GC,4512,-1.11,-146.0,377.3,-7.9,277,4517,0.00,2.47,0.00,0.000,4,0.000,0.038,2612,3361,3716,0,0,0,0,0,0
$GC,4559,-1.21,-146.0,381.4,-7.8,278,4563,0.00,2.42,0.00,0.000,6,0.000,0.027,2612,1856,3717,0,0,0,0,0,0
$GC,4843,-1.21,-146.0,404.7,-8.2,285,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1857,3715,0,0,0,0,0,0
$GC,5085,-1.21,-146.0,423.6,-7.8,291,5089,0.00,2.47,0.00,0.000,4,0.000,0.044,2612,3357,3713,0,0,0,0,0,0
$GC,5123,-1.31,-146.0,426.7,-8.3,291,5129,0.15,2.42,0.00,0.000,6,0.053,0.028,2534,1862,3713,0,0,0,0,0,0
$GC,5374,-1.14,-146.0,453.6,-10.9,298,5376,0.35,0.00,0.00,0.000,6,0.079,0.000,2612,1862,3711,0,0,0,0,0,0
$GC,5616,-1.14,-146.0,469.6,-6.2,304,5620,0.00,2.50,0.00,0.000,4,0.000,0.049,2612,3356,3710,0,0,0,0,0,0
$GC,5665,-1.24,-146.0,472.4,-6.0,305,5669,0.00,2.42,0.00,0.000,6,0.000,0.031,2612,1867,3709,0,0,0,0,0,0
$GC,5949,-1.30,-146.0,490.1,-6.5,312,5954,0.15,2.50,0.00,0.000,4,0.056,0.049,2544,3356,3707,0,0,0,0,0,0
$GC,5978,-1.18,-146.0,492.9,-10.0,312,5983,0.25,2.40,0.00,0.000,6,0.077,0.031,2601,1868,3708,0,0,0,0,0,0
$STATE,6072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6072,begin apogee
$GC,6079,-0.31,0.0,500.1,7.8,315,6201,0.82,0.00,118.57,0.870,6,0.066,0.000,2792,1674,3119,0,0,0,0,0,0
$STATE,6202,end apogee,CONTROL_FINISHED_OK
$STATE,6202,begin climb
$GC,6204,1.06,146.0,505.7,0.0,318,6335,1.23,2.70,121.75,0.853,4,0.029,0.071,3101,177,2523,0,0,0,0,0,0
$GC,6347,0.77,227.5,508.6,5.0,321,6426,0.35,2.42,70.50,0.838,6,0.104,0.028,3029,1665,2190,0,0,0,0,0,0
$GC,6706,0.67,227.5,478.9,8.6,330,6713,0.10,2.75,0.00,0.000,4,0.125,0.060,3007,3265,2182,0,0,0,0,0,0
$GC,6753,0.67,227.5,475.1,8.2,331,6758,0.00,2.62,0.00,0.000,6,0.000,0.038,3007,1694,2180,0,0,0,0,0,0
$GC,7044,0.71,256.8,454.7,6.9,338,7076,0.00,2.75,25.42,0.805,4,0.000,0.049,3007,3251,2072,0,0,0,0,0,0
$GC,7100,0.73,272.2,450.5,7.4,339,7120,0.00,2.65,15.23,0.765,6,0.000,0.038,3007,1685,2010,0,0,0,0,0,0
$GC,7371,0.73,277.3,429.4,7.8,346,7383,0.00,2.70,5.45,0.611,4,0.000,0.048,3007,3257,1988,0,0,0,0,0,0
$GC,7442,0.74,286.3,424.2,7.7,347,7458,0.00,2.60,10.05,0.723,6,0.000,0.036,3006,1697,1951,0,0,0,0,0,0
$GC,7709,0.75,293.7,403.6,7.7,354,7722,0.00,2.70,8.07,0.688,4,0.000,0.047,3007,3263,1922,0,0,0,0,0,0
$GC,7747,0.75,293.7,400.5,8.4,354,7755,0.00,2.58,0.00,0.000,6,0.000,0.035,3007,1709,1919,0,0,0,0,0,0
$GC,7997,0.75,293.7,379.0,8.7,361,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1709,1918,0,0,0,0,0,0
$GC,8240,0.75,293.7,358.9,8.3,367,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1709,1917,0,0,0,0,0,0
$GC,8484,0.75,293.7,338.1,8.6,373,8488,0.00,2.62,0.00,0.000,4,0.000,0.044,3007,3265,1916,0,0,0,0,0,0
$GC,8518,0.84,293.7,335.4,8.2,373,8524,0.15,2.58,0.00,0.000,6,0.056,0.034,3065,1702,1915,0,0,0,0,0,0
$GC,8768,0.72,293.7,307.8,11.2,379,8773,0.22,2.62,0.00,0.000,4,0.092,0.044,3017,3258,1914,0,0,0,0,0,0
$GC,8785,0.65,293.7,306.2,10.9,379,8790,0.00,2.53,0.00,0.000,6,0.000,0.031,3018,1713,1913,0,0,0,0,0,0
$GC,9054,0.65,293.7,282.9,8.6,386,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1714,1913,0,0,0,0,0,0
$GC,9297,0.65,296.7,263.9,7.9,392,9302,0.00,2.58,0.00,0.000,4,0.000,0.039,3017,3260,1913,0,0,0,0,0,0
$GC,9321,0.71,340.0,262.0,6.4,392,9369,0.00,2.55,41.53,0.713,6,0.000,0.031,3017,1711,1733,0,0,0,0,0,0
$GC,9627,0.71,342.6,238.3,7.9,400,9632,0.00,2.60,0.00,0.000,4,0.000,0.038,3018,3269,1728,0,0,0,0,0,0
$GC,9679,0.85,342.6,233.8,8.4,401,9684,0.12,2.55,0.00,0.000,6,0.064,0.031,3067,1726,1725,0,0,0,0,0,0
$GC,9959,0.77,342.6,204.8,10.9,408,9964,0.17,2.67,0.00,0.000,4,0.097,0.056,3028,162,1725,0,0,0,0,0,0
$GC,9988,0.77,342.6,201.5,9.8,408,9992,0.00,2.53,0.00,0.000,6,0.000,0.022,3028,1746,1725,0,0,0,0,0,0
$GC,10258,0.79,355.3,180.5,7.5,430,10279,0.00,2.55,14.15,0.603,4,0.000,0.035,3028,3263,1670,0,0,0,0,0,0
$GC,10319,0.92,355.3,175.2,8.8,436,10324,0.12,2.53,0.00,0.000,6,0.063,0.029,3080,1729,1667,0,0,0,0,0,0
$GC,10579,0.84,355.3,146.6,12.2,460,10585,0.17,2.62,0.00,0.000,4,0.096,0.048,3042,170,1667,0,0,0,0,0,0
$GC,10639,0.84,355.3,140.5,10.6,465,10643,0.00,2.47,0.00,0.000,6,0.000,0.022,3043,1748,1666,0,0,0,0,0,0
$GC,10906,0.84,355.3,115.7,8.3,489,10910,0.00,2.45,0.00,0.000,4,0.000,0.033,3042,3273,1666,0,0,0,0,0,0
$GC,10955,0.97,358.1,111.7,7.9,493,10960,0.12,2.47,0.00,0.000,6,0.062,0.029,3087,1738,1664,0,0,0,0,0,0
$GC,11218,0.97,358.1,89.9,8.3,517,11223,0.00,2.60,0.00,0.000,4,0.000,0.045,3087,167,1664,0,0,0,0,0,0
$GC,11266,0.97,358.1,85.5,9.8,521,11271,0.00,2.50,0.00,0.000,6,0.000,0.021,3087,1765,1664,0,0,0,0,0,0
$GC,11536,0.97,358.1,61.8,9.2,545,11540,0.00,2.65,0.00,0.000,4,0.000,0.044,3087,173,1664,0,0,0,0,0,0
$GC,11555,0.90,358.1,59.5,9.9,546,11560,0.15,2.47,0.00,0.000,6,0.101,0.020,3055,1753,1664,0,0,0,0,0,0
$GC,11819,0.90,358.1,37.3,8.2,570,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1754,1664,0,0,0,0,0,0
$GC,12117,0.90,358.1,11.5,8.5,612,12125,0.00,2.65,0.00,0.000,4,0.000,0.043,3055,171,1664,0,0,0,0,0,0
$GC,12147,0.90,358.1,8.9,9.0,616,12155,0.00,2.50,0.00,0.000,6,0.000,0.020,3055,1754,1664,0,0,0,0,0,0
$STATE,12205,end climb,SURFACE_DEPTH_REACHED
$STATE,12206,begin surface coast
$FINISH,0.7,1.023871
$STATE,12268,end surface coast,CONTROL_FINISHED_OK
$STATE,12268,begin surface
$SM_CCo,12288,17.40,0.235,1,0,1569,380.21
$SM_GC,1.79,0.00,0.00,17.40,0.000,0.000,0.235,414,1758,1569,-11.25,-0.90,380.21
$IRIDIUM_FIX,2241.69,-15759.32,100400,181842
$TT8_MAMPS,0.026845
$HUMID,49.25
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.4,68.224
$10V_AH,10.1,60.712
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.900,167.525,430.725,17.400,0.000,22.923,35.234,379.368,0.500,0.000,32.046,1308.947,7842.838,514.403,2442.990,808.241,33.379,1457.401,0.000,2426.423,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,71.331,869.778,235.469,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,430.747,398.062,498.179,784.177,1385.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355312
$DATA_FILE_SIZE,51095,634
$CAP_FILE_SIZE,142206,0
$CFSIZE,260165632,142102528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160111,012054,2249.100,-15758.957,23,1.0,40,10.1